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Fixed 3 more test cases

release/4.3a0
dellaert 2015-03-04 23:38:55 -08:00
parent 3b144a9cab
commit 5dda36a4d6
1 changed files with 4 additions and 4 deletions
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8
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -974,7 +974,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
// Two different cameras // Two different cameras
Pose3 pose2 = level_pose Pose3 pose2 = level_pose
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
Pose3 pose3 = level_pose Pose3 pose3 = pose2
* Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0)); * Pose3(Rot3::RzRyRx(-0.05, 0.0, -0.05), Point3(0, 0, 0));
Camera cam2(pose2, sharedK); Camera cam2(pose2, sharedK);
Camera cam3(pose3, sharedK); Camera cam3(pose3, sharedK);
@ -1011,9 +1011,9 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
graph.push_back(smartFactor3); graph.push_back(smartFactor3);
graph.push_back(PriorFactor<Camera>(x1, cam1, noisePrior)); graph.push_back(PriorFactor<Camera>(x1, cam1, noisePrior));
graph.push_back( graph.push_back(
PoseTranslationPrior<Pose3>(x2, positionPrior, noisePriorTranslation)); PoseTranslationPrior<Camera>(x2, positionPrior, noisePriorTranslation));
graph.push_back( graph.push_back(
PoseTranslationPrior<Pose3>(x3, positionPrior, noisePriorTranslation)); PoseTranslationPrior<Camera>(x3, positionPrior, noisePriorTranslation));
// Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below // Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/10, 0., -M_PI/10), Point3(0.5,0.1,0.3)); // noise from regular projection factor test below
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100), Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI / 100, 0., -M_PI / 100),
@ -1022,7 +1022,7 @@ TEST( SmartProjectionPoseFactor, 3poses_rotation_only_smart_projection_factor )
values.insert(x1, cam1); values.insert(x1, cam1);
values.insert(x2, cam2); values.insert(x2, cam2);
// initialize third pose with some noise, we expect it to move back to original pose_above // initialize third pose with some noise, we expect it to move back to original pose_above
values.insert(x3, Camera(pose_above * noise_pose, sharedK)); values.insert(x3, Camera(pose3 * noise_pose, sharedK));
EXPECT( EXPECT(
assert_equal( assert_equal(
Pose3( Pose3(